Mobile robot navigation: Issues in implementing the generalized Voronoi graph in the plane

Date

1996-12-01

Author

Choset, Howie
Konukseven, Erhan İlhan
Burdick, Joel

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https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=0030407623&origin=inward
https://hdl.handle.net/11511/86895

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Mobile robot navigation: Issues in implementating the generalized Voronoi graph in the plane Choset, H; Konukseven, Erhan İlhan; Burdick, J (1996-01-01) This paper describes the procedures that are required to implement, on a conventional mobile robot, a sensor based motion planning algorithm based on the generalized Voronoi graph (GVG). The GVG is a roadmap of a static environment, and we describe how to incrementally construct this roadmap using only range information in an unknown environment. The GVG may then be used to guide future excursions into the explored environment. Experimental results validate the utility of this work.
Mobile robot navigation: Implementing the GVG in the presence of sharp corners Konukseven, Erhan İlhan (1996-01-01) A robot can explore an unknown environment by incrementally constructing a roadmap of that environment using line of sight sensor information. Recall that a roadmap is a one-dimensional representation of a robot's environment. This paper addresses one problem that occurs while generating a roadmap: what happens when sonar sensors cannot detect sharp objects because of the specularities? To do this, a new sensor model is combined with an already existing incremental construction procedure for a roadmap. Expe...
Mobile robot navigation based on fuzzy discrete event systems Tampakis, Georgios; Schmidt, Klaus Verner; Boutalis, Yiannis (2009-12-01) Recently, several approaches for the control of fuzzy discrete event systems (FDES) have been proposed. First results towards the use of FDES in mobile robot navigation have also been presented, which however mainly build on sensory information processing. In this paper, we develop a methodology to compute control actions for the navigation of a mobile robot based on distributed FDES. The FDES description permits to take into account possible uncertainties in sensory information and enables a prediction of ...
Mobile Robot Heading Adjustment Using Radial Basis Function Neural Networks Controller and Reinforcement Learning BAYAR, GÖKHAN; Konukseven, Erhan İlhan; Koku, Ahmet Buğra (2008-10-28) This paper proposes radial basis function neural networks approach to the Solution of a mobile robot heading adjustment using reinforcement learning. In order to control the heading of the mobile robot, the neural networks control system have been constructed and implemented. Neural controller has been charged to enhance the control system by adding some degrees of strength. It has been achieved that neural networks system can learn the relationship between the desired directional heading and the error posi...
Mobile traffic modelling for wireless multimedia sensor networks in IoT Al-Turjman, Fadi; Radwan, Ayman; Mumtaz, Shahid; Rodriguez, Jonathan (2017-11-01) Wireless sensor networks suffer from some limitations such as energy constraints and the cooperative demands essential to perform multi-hop geographic routing for real-time applications. Quality of Service (QoS) depends to a great extent on offering participating nodes an incentive for collaborating. In this paper, we present a novel traffic model for a new-generation of sensor networks that supports a wide range of communication-intensive real-time multimedia applications. The model is used to investigate ...

Citation Formats

H. Choset, E. İ. Konukseven, and J. Burdick, “Mobile robot navigation: Issues in implementing the generalized Voronoi graph in the plane,” 1996, Accessed: 00, 2021. [Online]. Available: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=0030407623&origin=inward.